CN101738490B - Detection of vehicle moving direction - Google Patents
Detection of vehicle moving direction Download PDFInfo
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- CN101738490B CN101738490B CN200910209483.5A CN200910209483A CN101738490B CN 101738490 B CN101738490 B CN 101738490B CN 200910209483 A CN200910209483 A CN 200910209483A CN 101738490 B CN101738490 B CN 101738490B
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- 238000001514 detection method Methods 0.000 title abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims description 33
- 238000005259 measurement Methods 0.000 claims 1
- 230000005484 gravity Effects 0.000 description 6
- 230000003068 static effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 101100268668 Caenorhabditis elegans acc-2 gene Proteins 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Transmission Device (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention relates to a method for detection of a moving direction of a vehicle. The vehicle comprises at least one wheel driven by a prime mover via a transmission. The method comprises the step of determining the moving direction of the vehicle at least on the basis of the vehicle speed and the inclination of the vehicle.
Description
Technical field
The present invention relates to a kind of method and system that detects vehicle heading.The invention still further relates to a kind of vehicle control system and vehicle.
Background technology
Modern vehicle adopts security system to control in advance vehicle and some particular operational state.This class security system is for example the obstacle detection system can be used to as the vehicle path planning in travelling.This type systematic is not clearly to create full-automatic driving automobile as target, but is considered to reach the springboard of this target.A lot of technology are wherein by the assembly of the pilotless automobile for following, and meanwhile, people are putting goods on the market these technology as the accessory with the auxiliary mankind drive someway.These effort will be applied in standard automobile gradually at leisure.Driver assistance device has multiple diverse type---information Perception type, start rectification type and system type.
In order to make this class security system true(-)running, the travel direction that detects vehicle is very important.Some system preferably only at vehicle just to start to overtake time higher than a certain speed of a motor vehicle.
Existing different system can be used to detect vehicle heading.The problem that they solve is all how correctly to detect vehicle heading.Because the cost of sensor must remain on low level, this has proposed challenge to using standard transducer (example, wheel detector) to detect travel direction.
U.S. patent documents US 5267166 has disclosed a kind of device that detects direction of traffic, and this pick-up unit has a wheel speed calculation element, is used for calculating the speed of a motor vehicle and acceleration A w.Also have a gravity accelerometer to be used for calculating the acceleration of gravity Am detecting.In the time that Aw and Am increase simultaneously or reduce, just can determine vehicle to overtake, when one of them increase of Aw and Am and another minimizing, just can determine that vehicle falls back.In order to detect this feature, a computing system is provided, come to generate differential value Daw and Dam from acceleration A w value and Am value.Estimated the travel direction of vehicle by differential value Daw and Dam.The problem that the method exists is, when the degree of tilt of the road travelling when vehicle changes fast, will go wrong by this algorithm detection travel direction.
For the active safety function of the alleviation of the low speed collision for being caused by braking, the travel direction that fully detects vehicle is very important.The position of only using shift bar also can detection side to, but not all situations is all suitable for.For example,, in the time that vehicle stops on the slope, even if shift bar, in the position of forward gear, also may be drawn back with low speed.
summary of the invention
Therefore, the object of the invention is, detect the travel direction of the vehicle that is equipped with active safety function.Active safety function is used for the alleviation of the low speed collision being caused by braking.
In order to achieve the above object, the present invention relates to a kind of method that detects vehicle heading.Described vehicle at least comprises a wheel being driven by power train by prime mover.The method comprises at least the step of determining vehicle heading according to the speed of a motor vehicle and body sway degree.
The method can comprise the step of at least determining body sway degree according to vehicle acceleration.Degree of tilt can at least determine according to vehicle the first longitudinal acceleration value, and this longitudinal acceleration value is measured according at least one wheel detector.In addition, degree of tilt can also at least determine according to vehicle the second longitudinal acceleration value, and this second longitudinal acceleration value is measured according at least one accelerometer.
The method can comprise the step of at least determining degree of tilt according to previous definite travel direction.
The method can comprise the step of determining at least one threshold value according to body sway degree.The method can further comprise and is identified for indicating whether first threshold to overtake and be used to indicate the Second Threshold whether vehicle falls back of vehicle.Threshold speed can at least be determined according to previous definite travel direction.Threshold value can define in look-up table.Travel direction can at least be determined according to threshold value.In addition, direction also can be at least by relatively the speed of a motor vehicle and threshold value are determined.
The speed of a motor vehicle can be measured according at least one wheel detector.
In addition, travel direction can at least determine according to transmission value, and this transmission value is measured according to speed Control unit.
In addition, travel direction also can be determined by setting vehicle running state value.In the time that transport condition value indicates direction of traffic forward, transport condition value can be set to the first value, and in the time there is no such indication, transport condition value can be set to the second value.
In order to achieve the above object, the present invention also provides a kind of system of the detection vehicle heading of carrying out said method.
This system is used for carrying out the method that detects vehicle heading.The object of the invention also can realize by the vehicle control system of the system of inclusion test vehicle heading.The object of the invention finally realizes by the vehicle that comprises vehicle control system.
A major advantage of the present invention is, in the time determining vehicle heading, to have considered body sway degree simultaneously.When the speed of a motor vehicle is during higher than threshold speed, vehicle tractive force has overcome inclination.Therefore, indication vehicle travels along a certain specific direction.
An advantage of the invention is, just can correctly detect the travel direction of vehicle with standard transducer.The essential requirement that in automobile, other system is set can reach, because, for example, the part that wheel standards sensor is brake system, this has met these requirements.
Another advantage of the present invention is that the detection of travel direction only need be carried out once.When detecting after travel direction, needn't again detect it, until the speed that wheel detector is measured is 0 or very low value.
The acceleration of measuring due to accelerometer is the compensation of the acceleration to wheel detector mensuration, has therefore improved the detection of degree of tilt.And while detecting degree of tilt, vehicle needn't remain static.
accompanying drawing explanation
Below with reference to the accompanying drawings, the present invention is elaborated.Accompanying drawing does not limit the scope of the invention in any form, only for explaining the present invention.
Fig. 1 represents the top layer for detection of the system of vehicle heading.
Fig. 2 represents the subsystem for measuring vehicle tilt.
Fig. 3 represents the subsystem for estimate degree of tilt according to acceleration.
Fig. 4 represents according to the speed limiting device subsystem with good conditionsi in the subsystem of Fig. 2.
Fig. 5 represents the chart for measuring vehicle running state.
Fig. 6 represents vehicle running state table.
embodiment
Below with reference in embodiment, describe in detail, and embodiment shown in the drawings the present invention is elaborated.Below using describe in detail embodiment only as example of the present invention, do not limit in any form the scope that claim of the present invention is protected.
The present invention relates to a kind of method and system that detects vehicle heading.Can be the vehicle of any type, for example, automobile, truck.Described vehicle at least comprises a wheel being driven by power train by prime mover.Prime mover can be internal combustion engine and/or hybrid power system and/or motor.The effect of power train is the speed that the rate conversion of prime mover is become to wheel.
Fig. 1 represents the top layer for detection of an embodiment of the system of vehicle heading.This system comprises: the first subsystem 23 that is called tilt estimation (Inclination Estimation).This subsystem is at least measured body sway degree, hereinafter will be further to its detailed description.System also comprises the subsystem 24 that is called vehicle running state table (Vehicle Moving State Chart).This subsystem detects vehicle running state, hereinafter also will be further to its detailed description.
At least measure vehicle heading according to the speed of a motor vehicle and vehicle tilt according to system of the present invention, below will describe in detail.
The method is for having the vehicle of torque converter.Vehicle is only equipped with single wheel speed sensors, and it can't detect the travel direction of vehicle in the time of low speed.In the time of sideways inclined (inclination of vehicle) that shift bar travels at advance gear or reverse gear position and vehicle, transducer only allows certain specific speed contrary with shift bar gear of living in.For example, if shift bar is advancing gear and vehicle in the time that uphill way travels, torque converter does not allow vehicle to draw back with the speed that exceedes pace threshold value.
In this way, in the time that speed exceedes, deducibility vehicle just to overtake.If shift bar is in reverse gear position, threshold velocity is some more low, and if the speed of a motor vehicle exceed, the method infers that vehicle forward retreats.The method will describe in detail with reference to Fig. 5-6 later.
Fig. 2 represents the embodiment of tilt estimation subsystem 23, and this subsystem is used for calculating degree of tilt and threshold value.In this subsystem, the gravity (signal 31) that longitudinally acts on vehicle is assessed by the difference of longitudinal acceleration 2 (acceleration of measuring according to accelerometer) and ground longitudinal acceleration 1 (acceleration of measuring according to wheel detector).In subtrator 28, longitudinal acceleration 2 deducts longitudinal acceleration 1 on the ground, generates residual acceleration.When vehicle travel backwards (falling back), the symbol of longitudinal acceleration 1 is contrary on the ground, and in the time of stationary vehicle, longitudinal acceleration 1 equals longitudinal acceleration 2 on the ground.Vehicle value of feedback transport condition 6 is used for arranging the direction of longitudinal acceleration 1 on the ground.This direction arranges in multiplication unit 27.
Can estimated vehicle body degree of tilt 32 by means of residual acceleration, this step completes in unit 29.The impact that the body sway degree 32 of estimating is measured noise, thereby preferably application has the low-pass filter 30 of suitable cutoff frequency, and generates wave filter tilting value 36.When degree of tilt-15% and+15% between time, if acceleration with gravitometer, degree of tilt 32 can be estimated by acceleration 31.This is illustrated in Fig. 3, and wherein accekeration is proofreaied and correct with 9.81 (gravity acceleration value).
In the time that vehicle running state value (vehicle heading) is unknown, because degree of tilt is uncertain, so use speed limiting device with good conditionsi (conditional rate limiter) 33.Too low for fear of degree of tilt value is estimated, in the time that travel direction is unknown, only allow to increase the degree of tilt 36 (filtered value) of estimating.And, in the time of the speed of a motor vehicle and threshold value comparison (describing with reference to Fig. 5), should not reflect the reduction of the degree of tilt 36 of estimation.
Fig. 4 represents an embodiment of speed limiting device with good conditionsi.Meet the requirement of limiter 33 according to the limiter of Fig. 4.If travel direction the unknown (being controlled by unit 42), the degree of tilt 36 of more current estimation in unit 41 and the previous definite degree of tilt that is known as restriction (Inclination limited) 9 (seeing Fig. 2).In 38, to tilting, inverse is got in restriction.Travel direction is relevant with previously definite travel direction.Previously determined value was called vehicle running state 6.This value is below being discussed with reference to Fig. 5.In device 41, determine the maximal value of degree of tilt and be elected to be inclination limits value 8.If vehicle running state value is not 0, logic is invalid.
According to inclination limits value, be identified for indicating whether first threshold to overtake and be used to indicate the Second Threshold whether vehicle falls back of vehicle.Threshold value defines in look-up table 34,35.Threshold value is defined as fall back threshold speed 8 and pace threshold value 7 (seeing Fig. 1 and 2).
Vehicle heading at least will be determined according to the speed of a motor vehicle and body sway degree, now be described.The mensuration that vehicle running state table subsystem 24 is carried out as shown in Figure 5.Being input to 24 input value from tilt estimation subsystem is fall back threshold speed 8, pace threshold value 7 and the restriction 9 of tilting, and these values are in existing explanation above.In addition, vehicle speed value 3 and gearshift position value 4 is also in input table.Vehicle speed value is measured according at least one wheel detector.
In automatic gear-box, gearshift position value 4 indication gearshift position.For example, in the time that shift bar is placed in " advancing " position, will produce the first value; When shift bar is in " reverse gear " when position, will produce the second value.For example, when shift bar is at " advancing " gear, value can be 3; When shift bar is in " reverse gear " position, value can be 1.
At least by relatively the speed of a motor vehicle and threshold value are determined travel direction.Vehicle speed value 3 represents the speed of a motor vehicle, and fall back threshold speed 8 and pace threshold value 7 represent threshold value.Below will be to relatively describing.In addition, travel direction is at least measured according to transmission value, and transmission value is measured according to speed Control unit.Gearshift position value 4 represents transmission value.Speed Control unit for example can be used for controlling in automatic gear-box, or in manual transmission, indicates gearshift position.
In Fig. 5, indication has four kinds of different modes of operation 43,44,45,46.Each mode of operation is all represented by a value of vehicle running state 6.The travel direction of mode of operation indication vehicle, and in the time meeting specified conditions (will be described below), this chart determines that vehicle is in certain specific state.
The method is for being furnished with the vehicle of torque converter and single wheel speed sensors, and this single wheel speed sensors cannot detect vehicle heading in the time of low speed.When gearshift position is during in the sideways inclined (inclination of vehicle) of advancing gear or reverse gear position and travel, torque converter only allows the specific speed (non-refuelling door) contrary with gearshift position.If shift bar is at advance gear and car along slope upwards time, torque converter does not allow vehicle to retreat with the speed that exceedes certain pace threshold value.In the time exceeding this speed, deducibility vehicle to overtake.If shift bar is in reverse gear position, threshold speed is lower, if while exceeding this threshold value, the method falls back deduction vehicle.
Referring now to Fig. 5 and Fig. 6.When vehicle is to overtake time, vehicle running state value 6 is set to forward.In table, with 43 indicating status.Value also can be by a numeral forward, and for example 3.In the time of meet in two specified conditions one, value 6 is set to forward.These two conditions 47 respectively, when gearshift position value 4 is for (or 3) and vehicle speed value 3 are forward higher than pace threshold value 7.
Pace threshold value 7 arranges and is relevant with road surface degree of tilt in tilt estimation subsystem 23.This has reflected the characteristic of torque converter.As shown in Figure 6, when gearshift position is in the time advancing gear, degree of tilt is 3,000 ms/h near the pace threshold value 7 15%, and near the pace threshold value 7 of degree of tilt 15% is 8,000 ms/h.This means, when vehicle is advancing gear and while obviously going up a slope, torque converter will allow vehicle rollback.In order to make up this defect, can estimate vehicle to overtake before, must increase the speed of a motor vehicle.When vehicle in 46 represent unknown state time, test this condition.It is the unknown that travel condition of vehicle 6 is worth, or by digitized representation.
In the time that vehicle falls back, vehicle running state value 6 is set to fall back.In chart, by this state of 45 expressions.The value of falling back also can be by a numeral, and for example 2.In the time of meet in two specified conditions one, value 6 is set to fall back.Two conditions 54 are respectively: gearshift position value 4 is fall back (or 1), and vehicle speed value 3 is higher than the threshold speed 8 that falls back.
The threshold speed 8 that falls back is also set and is relevant to sideways inclined degree in tilt estimation subsystem 23.As shown in Figure 6, when gearshift position is during in reverse gear position, near the fall back threshold speed 8 of degree of tilt-15% (descending) is 3,000 ms/h, and near the degree of tilt threshold speed 8 that falls back-15% is 8,000 ms/h.This means, in reverse gear position and obviously when descending, torque converter allows vehicle to advance.In order to make up this defect, before vehicle travel backwards can be estimated, must increase the speed of a motor vehicle.This condition also vehicle in 46 represent unknown state time test.
Therefore while, determining travel direction, to consider the impact of degree of tilt.On duty 3 higher than value 7 or 8 o'clock, and vehicle tractive force has overcome degree of tilt.This just represents vehicle rollback or to overtake.
If also represent in Fig. 5 what situation meets other conditions 48 and 49 there will be.When vehicle speed value 3 is for example, during lower than certain particular value (1), state becomes unknown 46.When vehicle (state 43) or test this condition while retreating (state 45) to overtake.In addition, in Fig. 5, also represent, for example, if satisfy condition 51 (speed of a motor vehicle lower than certain particular value, 0.5), state becomes static 44.
Therefore, travel direction is determined by setting transport condition value 6.In the time meeting specified conditions, set particular state 43,44,45,46.In the time of definite acceleration and degree of tilt, use the vehicle running state value 6 of the state that represents, as the explanation of being done with reference to accompanying drawing 1-4 above.
With reference to Fig. 1, vehicle running state value 6 is also used for arranging and is worth to overtake 5.This value 5 is the signal beyond system, and it only can for example be used in the speed of a motor vehicle during to overtake and higher than certain specific speed of a motor vehicle just in the active safety system of startup.Specifically, when vehicle running state value 6 indication direction of traffic are forward time, be worth to overtake 5 and be set to the first value (for example 1); In the time there is no such indication, be worth to overtake 5 and be set to the second value (for example 0).Above-mentioned indication can be for example that vehicle running state value 6 is 3 or forward.The control of state is carried out by unit 25.
Claims (5)
1. a method that detects vehicle heading, is characterized in that, described vehicle at least comprises a wheel being driven by automatic transmission by prime mover, and the method includes the steps of:
At least whether determine vehicle heading in advance gear or reverse gear position according to the speed of a motor vehicle, body sway degree and shift bar;
The difference acceleration measurement obtaining according to the difference of the accekeration from vehicle-wheel speed sensor and accelerometer record is determined degree of tilt;
Determine at least one threshold value according to body sway degree for the speed of a motor vehicle;
Wherein, when shift bar is identified for indicating whether first threshold to overtake of vehicle in the time advancing gear, when shift bar is identified for the Second Threshold of indicating vehicle whether to fall back during in reverse gear position, wherein, described Second Threshold is less than described first threshold.
2. method according to claim 1, is characterized in that, comprises the step of at least determining degree of tilt according to previous definite travel direction.
3. method according to claim 1, is characterized in that, comprises the step of at least carrying out definite threshold according to previous definite travel direction.
4. method according to claim 1, is characterized in that, threshold value defines in look-up table.
5. method according to claim 1, is characterized in that, comprises the step of at least determining travel direction according to threshold value.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP08168270A EP2182372B1 (en) | 2008-11-04 | 2008-11-04 | Detection of vehicle moving direction |
| EP08168270.0 | 2008-11-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101738490A CN101738490A (en) | 2010-06-16 |
| CN101738490B true CN101738490B (en) | 2014-05-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910209483.5A Expired - Fee Related CN101738490B (en) | 2008-11-04 | 2009-11-04 | Detection of vehicle moving direction |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP2182372B1 (en) |
| CN (1) | CN101738490B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10408855B1 (en) * | 2015-09-21 | 2019-09-10 | Marvell International Ltd. | Method and apparatus for efficiently determining positional states of a vehicle in a vehicle navigation system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002062640A1 (en) * | 2001-01-11 | 2002-08-15 | Continental Teves Ag & Co. Ohg | Method and device for travel direction detection |
| CN1727236A (en) * | 2004-07-26 | 2006-02-01 | 丰田自动车株式会社 | The deceleration control device and the method for slowing-down control that are used for vehicle |
| EP1764580A1 (en) * | 2005-09-14 | 2007-03-21 | C.R.F. Società Consortile per Azioni | Method and system for recognizing the sign of the velocity of a vehicle and for estimating the road slope |
| US7319927B1 (en) * | 2005-05-12 | 2008-01-15 | Kelsey-Hayes Company | Constant speed control system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3030867B2 (en) | 1990-12-27 | 2000-04-10 | 住友電気工業株式会社 | Body direction estimation device |
-
2008
- 2008-11-04 EP EP08168270A patent/EP2182372B1/en active Active
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- 2009-11-04 CN CN200910209483.5A patent/CN101738490B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002062640A1 (en) * | 2001-01-11 | 2002-08-15 | Continental Teves Ag & Co. Ohg | Method and device for travel direction detection |
| CN1727236A (en) * | 2004-07-26 | 2006-02-01 | 丰田自动车株式会社 | The deceleration control device and the method for slowing-down control that are used for vehicle |
| US7319927B1 (en) * | 2005-05-12 | 2008-01-15 | Kelsey-Hayes Company | Constant speed control system |
| EP1764580A1 (en) * | 2005-09-14 | 2007-03-21 | C.R.F. Società Consortile per Azioni | Method and system for recognizing the sign of the velocity of a vehicle and for estimating the road slope |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2182372B1 (en) | 2012-01-04 |
| EP2182372A1 (en) | 2010-05-05 |
| CN101738490A (en) | 2010-06-16 |
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